A quasi-zero stiffness transmission connection device

Abstract

The present invention discloses a quasi-zero stiffness transmission connection device, comprising a driving disc, a driven disc, a positive stiffness mechanism and a negative stiffness mechanism; the positive stiffness mechanism comprises a plurality of circumferential buffer components, the driving disc and the driven disc are circumferentially twisted relative to each other and can cause the circumferential buffer components to undergo elastic deformation in the circumferential direction; the negative stiffness mechanism comprises a plurality of radial buffer components, each radial buffer component comprises a pin, a ball and an elastic component, the pin axial direction is parallel to the axial direction of the driven disc, the elastic component is distributed radially parallel to the driven disc, and the ball is arranged on the outside of the elastic component; when the driving disc and the driven disc are circumferentially twisted relative to each other, the pin can move circumferentially relative to the ball and the elastic component, squeezing the ball and then squeezing the elastic component to undergo elastic deformation in a radial direction parallel to the driven disc. The quasi-zero stiffness transmission connection device provided by the present invention can meet the requirements of high static stiffness characteristics and low dynamic stiffness characteristics required for vibration isolation, is suitable for high-speed and heavy-load occasions, and realizes effective isolation of transmission system vibration.

Description

Technical Field

[0001] The present invention relates to the technical field of torsional vibration reduction, and in particular to a quasi-zero stiffness transmission connection device. Background Art

[0002] Torsional vibration in powertrains has always been a key factor affecting vehicle safety and ride comfort. Researchers and engineers have long been working tirelessly to explore various methods to effectively reduce torsional vibration in powertrains. Passive linear vibration isolation technology, due to its practicality and reliability, has been widely used in the engineering field.

[0003] Passive linear isolators, typically used as transmission connection devices, are mass-spring-damper systems. Their operating principle is that they achieve significant vibration isolation only when the excitation frequency is a certain multiple of the isolator's natural frequency. However, in practical applications, specific system requirements necessitate lower stiffness for isolating low-frequency vibrations. However, this low stiffness makes it difficult to achieve torque transmission and transmission system stability. Therefore, a torsional vibration damper is urgently needed that combines the high static stiffness characteristics with the low dynamic stiffness required for vibration isolation. Summary of the Invention

[0004] The purpose of the present invention is to provide a quasi-zero stiffness transmission connection device to solve the problems existing in the above-mentioned prior art, which can meet the transmission requirements of high static stiffness characteristics and low dynamic stiffness characteristics required for vibration isolation, and realize effective isolation of transmission system vibration.

[0005] To achieve the above object, the present invention provides the following solutions:

[0006] The present invention provides a quasi-zero stiffness transmission connection device, comprising a driving disc, a driven disc, a positive stiffness mechanism and a negative stiffness mechanism; the driving disc is used to transmit input torque; the driven disc is coaxially connected to the driving disc and can be circumferentially twisted relative to each other, and is used to transmit output torque; the positive stiffness mechanism comprises a plurality of circumferential buffer components distributed circumferentially between the driving disc and the driven disc, each of the circumferential buffer components can be connected to the driving disc and the driven disc, the driving disc and the driven disc are circumferentially twisted relative to each other and can cause the circumferential buffer components to undergo elastic deformation in the circumferential direction; the negative stiffness mechanism It includes multiple groups of radial buffer components distributed circumferentially between the active disk and the driven disk, each of the radial buffer components includes a pin, a ball and an elastic component, the pin is axially parallel to the axial direction of the driven disk, the elastic component is distributed radially parallel to the driven disk, and the ball is arranged on the outside of the elastic component; when the active disk and the driven disk are circumferentially twisted relative to each other, the pin can move circumferentially relative to the ball and the elastic component, so that the pin can squeeze the ball and then squeeze the elastic component to undergo elastic deformation in a radial direction parallel to the driven disk.

[0007] Preferably, one end of the pin is fixedly connected to the active disk, the elastic component is arranged on the driven disk, and the ball is rollingly arranged outside the elastic component.

[0008] Preferably, the elastic component includes a frame and a radial elastic member arranged in the frame, the frame is fixedly connected to the driven disk, the outside of the frame has a through hole, and the ball is rolledly arranged at the through hole; the pin can squeeze the ball and compress the radial elastic member through the ball.

[0009] Preferably, the pin is fixedly connected to the active disk via an extrusion seat, and when the active disk and the driven disk are twisted relative to each other, the pin or the extrusion seat can always maintain contact with the ball.

[0010] Preferably, when the active disk and the driven disk are not torsionally rotated relative to each other, on the same circular cross section, a line connecting the center of the ball and the center of the active disk and a line connecting the center of the pin and the center of the active disk have a pre-rotation angle.

[0011] Preferably, each of the circumferential buffer assemblies comprises two rows of circumferential elastic members arranged side by side along the thickness direction of the driving disk and the driven disk, and both ends of each circumferential elastic member are respectively connected to the driving disk and the driven disk.

[0012] Preferably, the driving disk includes a main frame and a sub-frame coaxially arranged on both sides of the driven disk, and the main frame and the sub-frame are fixedly connected by a connecting piece passing through the driven disk.

[0013] Preferably, a buffer spring is provided between the sub-frame and the driven plate.

[0014] Preferably, the inner ring of the driven disc is provided with an arc gear for transmitting output torque.

[0015] Preferably, the pin and the ball move relative to each other until they are on the same circular cross-section, and the line connecting the center of the ball and the center of the active disk coincides with the line connecting the center of the pin and the center of the active disk, and are in an equilibrium position. There is a unique quasi-zero stiffness condition between the positive stiffness mechanism and the negative stiffness mechanism, and the torque and dynamic stiffness expressions that meet the quasi-zero stiffness condition are as follows:

[0016] ;

[0017] ;

[0018] in,

[0019] , , ;

[0020] Where: is the dimensionless expression of the relative torsional angle between the master and driven disks, is the dimensionless expression of the installation radius of the radial elastic member, is the dimensionless expression of the effective radius of the circumferential elastic member, is the dimensionless expression of the contact radius between the ball and the pin, and are the dimensionless deformation and maximum dimensionless deformation of the radial elastic member, is the dimensionless free height of the radial elastic member, is the dimensionless outer radius of the radial elastic member.

[0021] Compared with the prior art, the present invention has achieved the following technical effects:

[0022] The quasi-zero stiffness transmission connection device provided by the present invention has a positive stiffness mechanism and a negative stiffness mechanism arranged between the active disk and the driven disk. When starting to work, the active disk and the driven disk are relatively twisted, and the multiple circumferential buffer components of the positive stiffness mechanism buffer and transmit torque. When the pin and the ball of the negative stiffness mechanism contact and squeeze, the negative stiffness mechanism starts to work, and together with the positive stiffness mechanism, it forms a positive and negative stiffness parallel mechanism, so that the system reaches a quasi-zero stiffness state under the design torque, can meet the requirements of high static stiffness characteristics and low dynamic stiffness characteristics required for vibration isolation, and realize effective isolation of transmission system vibration. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0024] Figure 1 A schematic diagram of a partial cross-sectional structure of the quasi-zero stiffness transmission connection device provided in Example 1;

[0025] Figure 2 for Figure 1 AA cross-sectional diagram of the provided quasi-zero stiffness transmission connection device;

[0026] Figure 3 The torque characteristic curve of the quasi-zero stiffness transmission connection device provided in Example 1;

[0027] Figure 4 The stiffness characteristic curve of the quasi-zero stiffness transmission connection device provided in Example 1;

[0028] Figure 5 A schematic diagram of a dynamic model of a transmission system for the quasi-zero stiffness transmission connection device provided in Example 1;

[0029] Figure 6 The amplitude-frequency characteristic relationship under the determination of Me for the transmission system using a quasi-zero stiffness transmission connection device and a traditional linear shock absorber;

[0030] Figure 7 The damping ratio of the transmission system using the quasi-zero stiffness transmission connection device and the traditional linear shock absorber is Determine the amplitude-frequency characteristic relationship under

[0031] Figure 8 This is a comparison chart of the output torque after installing a traditional linear shock absorber and the quasi-zero stiffness transmission connection device of this embodiment.

[0032] In the figure: 100-quasi-zero stiffness transmission connection device; 1-driving disk; 11-extrusion seat; 12-main frame; 13-auxiliary frame; 14-buffer spring; 15-bolt; 2-driven disk; 21-arc gear; 22-arc groove; 3-positive stiffness mechanism; 31-circumferential buffer assembly; 32-circumferential elastic member; 4-negative stiffness mechanism; 41-radial buffer assembly; 42-pin; 43-ball; 44-elastic member; 45-frame; 46-radial elastic member. DETAILED DESCRIPTION

[0033] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0034] The purpose of the present invention is to provide a quasi-zero stiffness transmission connection device to solve the problems existing in the above-mentioned prior art, which can meet the requirements of high static stiffness characteristics and low dynamic stiffness characteristics required for vibration isolation, and realize effective isolation of transmission system vibration.

[0035] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below with reference to the accompanying drawings and specific embodiments.

[0036] Example 1

[0037] This embodiment provides a quasi-zero stiffness transmission connection device 100, see Figure 1 and Figure 2, including an active disc 1, a driven disc 2, a positive stiffness mechanism 3 and a negative stiffness mechanism 4; the active disc 1 is used to transmit input torque; the driven disc 2 is coaxially connected to the active disc 1 and can be circumferentially twisted relative to each other, for transmitting output torque; the positive stiffness mechanism 3 includes a plurality of circumferential buffer components 31 distributed circumferentially between the active disc 1 and the driven disc 2, each circumferential buffer component 31 can be connected to the active disc 1 and the driven disc 2, the active disc 1 and the driven disc 2 can be circumferentially twisted relative to each other and can cause the circumferential buffer component 31 to undergo elastic deformation in the circumferential direction; the negative stiffness mechanism 4 ... There are multiple groups of radial buffer components 41 between the active disk 1 and the driven disk 2, and each radial buffer component 41 includes a pin 42, a ball 43 and an elastic component 44. The pin 42 is axially parallel to the axial direction of the driven disk 2, the elastic component 44 is distributed radially parallel to the driven disk 2, and the ball 43 is arranged on the outside of the elastic component 44; when the active disk 1 and the driven disk 2 are twisted relative to each other in the circumferential direction, the pin 42 can move circumferentially relative to the ball 43 and the elastic component 44, so that the pin 42 can squeeze the ball 43 and then squeeze the elastic component 44 to elastically deform in the radial direction parallel to the driven disk 2.

[0038] A positive stiffness mechanism 3 and a negative stiffness mechanism 4 are arranged between the active disk 1 and the driven disk 2. When starting to work, the active disk 1 and the driven disk 2 are twisted relative to each other, and the multiple circumferential buffer components 31 of the positive stiffness mechanism 3 buffer and transmit torque. When the pin 42 and the ball 43 of the negative stiffness mechanism 4 contact and squeeze, the negative stiffness mechanism 4 starts to work, and together with the positive stiffness mechanism 3, it forms a positive and negative stiffness parallel mechanism, so that the system reaches a quasi-zero stiffness state under the design torque, which can meet the requirements of high static stiffness characteristics and low dynamic stiffness characteristics required for vibration isolation, and realize effective isolation of transmission system vibration.

[0039] Specifically, the radial buffer components 41 can be distributed circumferentially into six or more according to actual needs.

[0040] In the optional scheme of this embodiment, it is more preferred that one end of the pin 42 is fixedly connected to the active disk 1, the elastic component 44 is arranged on the driven disk 2, and the ball 43 is rollingly arranged on the outside of the elastic component 44. In this way, the pin 42 can move synchronously with the active disk 1 in the circumferential direction, so that the pin 42 and the ball 43 can contact and squeeze the elastic component 44, so that the elastic component 44 provides negative stiffness.

[0041] In the optional scheme of this embodiment, it is more preferred that the elastic component 44 includes a frame 45 and a radial elastic member 46 arranged in the frame 45. The frame 45 is fixedly connected to the driven disk 2. The outer side of the frame 45 has a through hole, and a ball 43 is rolledly arranged at the through hole; the pin 42 can squeeze the ball 43 and compress the radial elastic member 46 through the ball 43. The ball 43 is rolled at the through hole, and there is rolling contact between the ball 43 and the pin 42, and the friction is low and can be ignored; the radial elastic member 46 can be set as a disc spring.

[0042] In the optional scheme of this embodiment, it is more preferred that each circumferential buffer assembly 31 includes two rows of circumferential elastic members 32 arranged side by side along the thickness direction of the active disc 1 and the driven disc 2, and both ends of each circumferential elastic member 32 are respectively connected to the active disc 1 and the driven disc 2. Specifically, the circumferential elastic member 32 is configured as a rectangular spring and is installed in the installation groove between the active disc 1 and the driven disc 2 through a spring seat. The circumferential buffer assembly 31 can be arranged into eight groups along the circumferential direction, which has a large torque transmission and can be applied to high-speed and heavy-load vehicle transmission systems.

[0043] In the optional scheme of this embodiment, it is more preferred that the active disk 1 includes a main frame 12 and a sub-frame 13 coaxially arranged on both sides of the driven disk 2, and the main frame 12 and the sub-frame 13 are fixedly connected by a connecting piece passing through the driven disk 2; specifically, the pin 42 is installed on the main frame 12, and the main frame 12 and the sub-frame 13 are connected by bolts 15. The position where the driven disk 2 is penetrated by the bolt 15 is circumferentially provided with an arc groove 22, so that the active disk 1 and the driven disk 2 can undergo relative torsion and can limit the relative torsion angle; the positive stiffness mechanism 3 and the negative stiffness mechanism 4 are installed between the active disk 1, so that the structure is compact, the volume is small, and it is easy to install.

[0044] In the optional solution of this embodiment, it is more preferred that a buffer spring 14 is provided between the sub-frame 13 and the driven disk 2. The buffer spring 14 absorbs vibration energy through elastic deformation, reduces axial vibration and impact, and effectively reduces vibration transmitted to other components.

[0045] In the optional solution of this embodiment, more preferably, an arc gear 21 for transmitting the output torque is fixedly provided on the inner ring of the driven disc 2, and the arc gear 21 is fixedly connected to the output shaft to realize the transmission of the output torque.

[0046] In the optional scheme of this embodiment, it is more preferred that the pin 42 is fixedly connected to the active disk 1 through the extrusion seat 11, and when the active disk 1 and the driven disk 2 are twisted relative to each other, the pin 42 or the extrusion seat 11 can always maintain contact with the ball 43; further, when the active disk 1 and the driven disk 2 are not twisted relative to each other, on the same circular cross-section, the line connecting the center of the ball 43 and the center of the active disk 1 and the line connecting the center of the pin 42 and the center of the active disk 1 have a pre-rotation angle. When the shock absorber reaches the design torque, the torsion angle of the active disk 1 and the driven disk 2 reaches the pre-rotation angle of the ball 43 and the pin 42, and the pin 42 and the ball 43 move relative to each other to the same circular cross-section, and are in an equilibrium position when the line connecting the center of the ball 43 and the center of the active disk 1 coincides with the line connecting the center of the pin 42 and the center of the active disk 1. At this time, the radial elastic member 46 is in the maximum compression position.

[0047] The contact between the pin 42 and the ball 43 is different from the cam roller contact in previous studies, and there is no need to consider the critical contact angle. The lower side surface of the extrusion seat 11 can be set to an arc surface. When the torsion angle of the pin 42 and the ball 43 exceeds the equilibrium position, the extrusion seat 11 where the pin 42 is located always maintains tangential contact with the ball 43. Under the restriction of the extrusion seat 11, the disc spring cannot recover and deform, so that the disc spring in the negative stiffness mechanism 4 will maintain the compression amount at the equilibrium position, providing the maximum negative stiffness for the positive and negative stiffness parallel mechanism. When the torsion angle of the pin 42 and the ball 43 exceeds the equilibrium position, it indicates that the torque exceeds the design torque. The positive torsional stiffness increases with the increase of the torsion angle, but the disc spring of the negative stiffness mechanism 4 maintains the maximum compression amount in the equilibrium position, so it can provide the maximum negative stiffness that the component can provide; by determining the circumferential size of the arc groove 22 to limit the relative torsion angle of the master and slave disks, such a design allows the shock absorber to always maintain effective contact within the design angle, causing the disc spring in the negative stiffness mechanism 4 to deform and produce negative stiffness. The present invention is suitable for small-amplitude oscillation occasions, that is, the relative torsion angle between the active disk 1 and the driven disk 2 is very small, usually a few degrees. In theoretical calculations, when the torsion angle θ is very small, sinθ≈θ, cosθ≈1.

[0048] Further preferably, when the ball 43 and the pin 42 are in equilibrium, there is a unique quasi-zero stiffness condition between the positive stiffness mechanism 3 and the negative stiffness mechanism 4. The expressions of the torque M and dynamic stiffness K that satisfy the quasi-zero stiffness condition are as follows:

[0049] ;

[0050] ;

[0051] in,

[0052] , , ;

[0053] Where: It is the dimensionless representation of the installation radius of the radial elastic part, i.e. the disc spring. is the dimensionless expression of the radius of action of the circumferential elastic member, i.e. the rectangular spring. is the dimensionless expression of the contact radius between the ball and the pin, and are the dimensionless deformation and maximum dimensionless deformation of the radial elastic member, i.e., the disc spring, respectively. is the dimensionless free height of the radial elastic member, is the dimensionless outer radius of the radial elastic member.

[0054] See Figure 3 and Figure 4 , which are the torque characteristic curve and stiffness characteristic curve of the quasi-zero stiffness transmission connection device 100, respectively. Figure 3 It can be seen that near the equilibrium position, the slope of the torque characteristic curve is zero, which has a typical quasi-zero stiffness characteristic, corresponding to Figure 4 It can also be seen that the stiffness value is zero at the equilibrium position; therefore, at the equilibrium position under the design torque, the dynamic stiffness tends to zero, and has a quasi-zero stiffness characteristic.

[0055] Specifically, see Figure 5 , the quasi-zero stiffness transmission connection device 100 is installed in the transmission system, which can not only transmit the torque of the transmission system but also effectively isolate the fluctuating torque from the engine; the rotational inertia of the engine and the generator are respectively 、 The angular displacements generated by the active and passive ends are 、 , is the relative torsional angular displacement between the active and passive ends; in the dynamic calculation, the simple harmonic vibration excitation input of the active end is considered to be transmitted through the transmission connection device, and the vibration excitation input of the passive end is not considered, so .make According to the vibration and vibration reduction theory, the transmission torque of vibration is the sum of the restoring torque generated by the stiffness of the vibration isolation system and the damping torque generated by the damping; the established dynamic equation is as follows:

[0056] ;

[0057] In the formula, the definition is the “effective moment of inertia” of the system, c is the damping coefficient, is the excitation amplitude, is the equivalent natural frequency of the system. The following dimensionless calculation form is introduced:

[0058] , , , ;

[0059] Where, is the frequency ratio, n 1 is the number of positive stiffness rectangular springs, k v is the linear stiffness of a single positive stiffness rectangular spring, r 1 is the action radius of the positive stiffness rectangular spring, is the damping ratio, is dimensionless time; substituting the torque formula of the quasi-zero stiffness transmission connection device 100 into it, we can obtain:

[0060] ;

[0061] Where, and They are The first and second derivatives of is the dimensionless torque of the quasi-zero stiffness transmission connection device, and its expression is as before.

[0062] By solving the system using the harmonic balance method, we can obtain the system amplitude-frequency characteristic relationship, see Figure 6 , under the premise of specifying Me=0.01, the amplitude-frequency characteristics relationship of the transmission system of the quasi-zero stiffness transmission connection device 100 and the traditional linear transmission connection device, as well as Figure 7 , specify =0.03, the amplitude-frequency characteristics of the transmission system of the quasi-zero stiffness transmission connection device 100 and the traditional linear transmission connection device are shown in the figure. It can be seen from the figure that the resonance peak value of the vibration transmissibility of the transmission connection device of the present design is lower than the transmissibility peak value of the linear vibration absorber, and the effective vibration isolation frequency of the quasi-zero stiffness vibration isolation system is lower than that of the linear system.

[0063] See Figure 8 When the designed rated torque is 2400 N·m, the fluctuating torque generated by the engine is 309 N·m. The comparison of the output torque after installing the linear transmission connection device and the quasi-zero stiffness transmission connection device of this embodiment is shown in the figure. It can be seen from the figure that this embodiment has a good vibration reduction effect on the fluctuating torque generated by the engine, which is significantly better than the linear transmission connection device; it can be applied to high-speed and heavy-load torsional vibration occasions, while transmitting large torque and achieving zero dynamic stiffness at the designed torque, effectively isolating adverse vibrations.

[0064] The present invention uses specific examples to illustrate the principles and implementation methods of the present invention. The above examples are only intended to help understand the method and core concept of the present invention. At the same time, those skilled in the art will find that the specific implementation methods and application scopes may vary based on the concept of the present invention. In summary, the contents of this specification should not be construed as limiting the present invention.

Claims

1. A quasi-zero stiffness transmission connection device, characterized in that: include: An active disc (1) for transmitting input torque; A driven disc (2) is coaxially connected to the driving disc (1) and is capable of relative rotation in the circumferential direction, and is used to transmit output torque; A positive stiffness mechanism (3) comprising a plurality of circumferential buffer components (31) distributed circumferentially between the active disk (1) and the driven disk (2), wherein each of the circumferential buffer components (31) is connectable to the active disk (1) and the driven disk (2), and the active disk (1) and the driven disk (2) are circumferentially twisted relative to each other and are capable of causing the circumferential buffer components (31) to undergo elastic deformation in the circumferential direction; and The negative stiffness mechanism (4) comprises a plurality of radial buffer components (41) distributed circumferentially between the active disk (1) and the driven disk (2), each radial buffer component (41) comprising a pin (42), a ball (43) and an elastic component (44), wherein the pin (42) is axially parallel to the axial direction of the driven disk (2), the elastic component (44) is distributed radially parallel to the driven disk (2), and the ball (43) is arranged outside the elastic component (44); when the active disk (1) and the driven disk (2) are circumferentially twisted relative to each other, the pin (42) can move circumferentially relative to the ball (43) and the elastic component (44), so that the pin (42) can squeeze the ball (43) and then squeeze the elastic component (44) to elastically deform in a radial direction parallel to the driven disk (2).

2. The quasi-zero stiffness transmission connection device according to claim 1, characterized in that: One end of the pin (42) is fixedly connected to the active disk (1), the elastic component (44) is arranged on the driven disk (2), and the ball (43) is rollingly arranged outside the elastic component (44).

3. The quasi-zero stiffness transmission connection device according to claim 2, characterized in that: The elastic component (44) includes a frame (45) and a radial elastic member (46) arranged in the frame (45), the frame (45) is fixedly connected to the driven disk (2), the frame (45) has a through hole on the outside, and the ball (43) is rolled and arranged at the through hole; the pin (42) can squeeze the ball (43) and compress the radial elastic member (46) through the ball (43).

4. The quasi-zero stiffness transmission connection device according to claim 2, characterized in that: The pin (42) is fixedly connected to the active disk (1) via the extrusion seat (11); when the active disk (1) and the driven disk (2) are twisted relative to each other, the pin (42) or the extrusion seat (11) can always maintain contact with the ball (43).

5. The quasi-zero stiffness transmission connection device according to claim 3, characterized in that: When the active disk (1) and the driven disk (2) are not twisted relative to each other, on the same circular cross section, a line connecting the center of the ball (43) and the center of the active disk (1) and a line connecting the center of the pin (42) and the center of the active disk (1) have a pre-rotation angle.

6. The quasi-zero stiffness transmission connection device according to claim 5, characterized in that: Each of the circumferential buffer assemblies (31) comprises two rows of circumferential elastic members (32) arranged side by side along the thickness direction of the active disk (1) and the driven disk (2), and both ends of each circumferential elastic member (32) are respectively connected to the active disk (1) and the driven disk (2).

7. The quasi-zero stiffness transmission connection device according to claim 1, characterized in that: The active disk (1) comprises a main frame (12) and a sub-frame (13) coaxially arranged on both sides of the driven disk (2); the main frame (12) and the sub-frame (13) are fixedly connected via a connecting piece passing through the driven disk (2).

8. The quasi-zero stiffness transmission connection device according to claim 7, characterized in that: A buffer spring (14) is provided between the sub-frame (13) and the driven disc (2).

9. The quasi-zero stiffness transmission connection device according to claim 1, characterized in that: The inner ring of the driven disc (2) is provided with an arc gear (21) for transmitting output torque.

10. The quasi-zero stiffness transmission connection device according to claim 6, characterized in that: The pin (42) and the ball (43) move relative to each other until they are on the same circular cross-section. When the line connecting the center of the ball (43) and the center of the active disk (1) coincides with the line connecting the center of the pin (42) and the center of the active disk (1), they are in an equilibrium position. There is a unique quasi-zero stiffness condition between the positive stiffness mechanism (3) and the negative stiffness mechanism (4). The torque and dynamic stiffness expressions that meet the quasi-zero stiffness condition are as follows: ； ； in, ， ， ； Where: is the dimensionless expression of the relative torsional angle between the master and driven disks, is the dimensionless expression of the installation radius of the radial elastic member, is the dimensionless expression of the effective radius of the circumferential elastic member, is the dimensionless expression of the contact radius between the ball and the pin, and are the dimensionless deformation and maximum dimensionless deformation of the radial elastic member, is the dimensionless free height of the radial elastic member, is the dimensionless outer radius of the radial elastic member.

Images